CN106142115A - The books catching robot of book ATM and band thickness measuring function thereof - Google Patents
The books catching robot of book ATM and band thickness measuring function thereof Download PDFInfo
- Publication number
- CN106142115A CN106142115A CN201610626708.7A CN201610626708A CN106142115A CN 106142115 A CN106142115 A CN 106142115A CN 201610626708 A CN201610626708 A CN 201610626708A CN 106142115 A CN106142115 A CN 106142115A
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- books
- catching robot
- book
- feed screw
- screw nut
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 28
- 230000003287 optical effect Effects 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Manipulator (AREA)
Abstract
A kind of books catching robot of book ATM and band thickness measuring function thereof, relate to a kind of book ATM and books catching robot thereof, mechanical hand includes casing assembly, motor, screw mandrel cleat assembly, transmission component, and screw mandrel cleat assembly includes catching robot clamping plate, rotational support block, spring, feed screw nut, Bidirectional-screw, feed screw nut's limited block, measuring thickness device；Book ATM includes that bookshelf, books capture car, vehicle frame, control system, and bookshelf is provided with book lattice, and books capture and are provided with above-mentioned books catching robot on car, and the width of book lattice is uneven setting by different books thickness；The outfan of the displacement transducer of books catching robot is connected with control system.The present invention can utilize the visible books in stock space of book ATM bookshelf the most fully, can realize accurately measuring books thickness, its reliable, low cost rational in infrastructure, it is easy to promote the use of.
Description
Technical field
The present invention relates to a kind of book ATM and books catching robot thereof, particularly a kind of book ATM and band thereof are surveyed
The books catching robot of thick function.
Background technology
Along with science and technology and the development of society, the demand of information is constantly expanded by people.Book ATM is owing to having 24
The superior functionality of hour self-help service, greatly facilitates borrowing and giving back of reader, the most progressively in some Modern Libraries
It is widely applied.In existing book ATM, books catching robot is submitted a written statement to a higher authority automatically for convenience, each on bookshelf
Book lattice width is typically all and arranges by the even width of thicker books, and no matter books thickness, every books all take book lattice.
But being as being on the increase of books in stock amount, the bookshelf position day of book ATM is becoming tight, and the books for thinner thickness also to account for
For phenomenon with wider book lattice, the most unreasonable and visible books in stock space of waste preciousness.
Summary of the invention
The technical problem to be solved in the present invention is: provide the books gripper of a kind of book ATM and band thickness measuring function thereof
Tool hands, rationally to utilize the books in stock space of book ATM bookshelf fully.
The technical scheme solving above-mentioned technical problem is: the books catching robot of a kind of band thickness measuring function, including shell
Assembly, motor, screw mandrel cleat assembly, transmission component, described screw mandrel cleat assembly includes two pieces of catching robot clamping plate, rotations
Prop up bracer, spring, feed screw nut, Bidirectional-screw, feed screw nut's limited block；Also include the thickness measuring dress for measuring books thickness
Putting, this measuring thickness device includes displacement transducer and attached linear movement guide mechanism, groove shifting block；Described feed screw nut's limit
Position block includes feed screw nut limited block A and feed screw nut limited block B, and feed screw nut limited block A is formed with L-shaped driving lever, L
Shape driving lever is provided with pin-and-hole in lateral attitude；Described groove shifting block is provided with vertical groove, this groove shifting block by vertical groove,
Pin in pin-and-hole links together with feed screw nut limited block A；Described groove shifting block also with displacement transducer and attached
Linear movement guide mechanism connects；The tail end of catching robot clamping plate is to distance L1 between the rotation center of circle O of rotational support block
Equal to rotation center of circle O to distance L2 between pin-and-hole center or proportional relation.
The further technical scheme of the present invention is: in described displacement transducer and attached linear movement guide mechanism thereof
Displacement transducer uses striated pattern rule displacement sensor, and this striated pattern rule displacement sensor includes grating scale body and optics
Linear movement guide mechanism in read head, displacement transducer and attached linear movement guide mechanism thereof includes line slideway and leads
To slide block, described grating scale body, line slideway are installed in parallel on casing assembly, and guide runner is arranged on line slideway
On, one end of this guide runner is connected with optical reading head by connecting sheet, and the other end of guide runner is connected with groove shifting block.
The present invention another solution is that a kind of book ATM, captures car, vehicle frame, control system including bookshelf, books
System, bookshelf is provided with book lattice, and books capture and are provided with books catching robot on car, and the width of described book lattice is by different books
Thickness is uneven setting；Described books catching robot is that the books of the band thickness measuring function described in claim 1 or 2 capture
Mechanical hand, the outfan of displacement transducer controls end with the input of control system and is connected.
The further technical scheme of the present invention is: the width specifications of described book lattice include 0～10mm, 11～20mm, 21
～30mm, 31～40mm, 41～50mm.
Owing to using said structure, the book ATM of the present invention and the books catching robot of band thickness measuring function thereof with existing
There is technology to compare, have the advantages that
1. rationally utilize the books in stock space of book ATM bookshelf fully
Pressing different books thickness due to the width of the book lattice on the book ATM bookshelf of the present invention is uneven setting, Er Qietong
Cross the books catching robot using band thickness measuring function, while capturing books, can accurately measure the thickness of these books, then lead to
Cross the control device THICKNESS CONTROL books catching robot according to these books and books are automatically sent to the book of respective width on bookshelf
Case is put.Therefore, thicker books can be left in the book lattice that width is bigger by the present invention, leaves relatively thin books in width
In less book lattice, rationally it is sufficiently used the books in stock space of book ATM bookshelf, substantially increases book ATM valuable
Visible books in stock amount.
2. realize accurately measuring books thickness
Books catching robot due to the present invention uses the books catching robot of band thickness measuring function, this books catching robot
Including the measuring thickness device for measuring books thickness, this measuring thickness device includes displacement transducer and attached linear movement guide thereof
Mechanism, groove shifting block；And on feed screw nut limited block A, it being formed with L-shaped driving lever, L-shaped driving lever is provided with pin in lateral attitude
Hole；Groove shifting block is provided with vertical groove, and this groove shifting block is by being positioned at pin and feed screw nut's limit of vertical groove, pin-and-hole
Position block A links together；And groove shifting block is also by guide runner and connects the optical reading head of sheet and displacement transducer even
Connect.Therefore, the Bidirectional-screw at books catching robot drives feed screw nut, feed screw nut's limited block outwardly or inwardly to move
Meanwhile, by the L-shaped driving lever on feed screw nut limited block A stir groove shifting block drive displacement transducer optical reading head along
Line slideway moves back and forth, and owing to the tail end of catching robot clamping plate is to the distance rotated between the center of circle of rotational support block
L1 is equal with distance L2 rotated between the center of circle to pin-and-hole center or becomes certain proportionate relationship, and this design can make displacement sensing
The stroke that device detects and monolateral catching robot clamping plate open or to clamp stroke equal or become certain proportionate relationship, thus
Realize accurately measuring books thickness.
The most rational in infrastructure reliably
Due to books catching robot two pieces of catching robot clamping plate tail ends open or clamping movement be around O point in arc
Motion, therefore, feed screw nut limited block A is designed with L-shaped deflector rod structure by the present invention, along with two pieces of catching robot clamping plate
Open or clamping movement, be connected to the L-shaped driving lever on feed screw nut limited block A also for around O point in arcuate movement；And L-shaped
Driving lever is provided with pin-and-hole in lateral attitude；And on groove shifting block, it is provided with vertical groove, makes this groove shifting block vertical by being positioned at
Pin in groove, pin-and-hole links together with feed screw nut limited block A；The arcuate movement of L-shaped driving lever can be turned by this structure
Turn to the linear reciprocating motion of groove shifting block, thus drive the optical reading head of displacement transducer back and forth to transport along line slideway
Dynamic, reach accurately to measure the purpose of books thickness.Therefore, the present invention rational in infrastructure reliably.
4. low cost, it is easy to promote the use of
The measuring thickness device simple in construction of the present invention, and the displacement transducer employing surveying book apparatus is also simple and practical, technology
Ripe striated pattern rule displacement sensor, low cost, dependable performance, it is simple to be connected with TT&C system.
Additionally, due to the present invention can utilize the visible books in stock space of book ATM bookshelf the most fully, it is not necessary to increase book
The overall dimensions of frame can meet the demand of the more visible books of Readers ' Borrowing Books, not only greatly reduces cost, also saves and account for
With place, it is easy to promote the use of.
Below, in conjunction with the accompanying drawings and embodiments the book ATM of the present invention and the books of band thickness measuring function thereof are captured machinery
The technical characteristic of hands is further described.
Accompanying drawing explanation
Front view (the catching robot of the books catching robot of the band thickness measuring function of the present invention described in Fig. 1: embodiment one
Clamping plate clamped condition),
The left view of Fig. 2: Fig. 1,
The right view of Fig. 3: Fig. 1,
The top view of Fig. 4: Fig. 1,
The books catching robot of the band thickness measuring function of the present invention described in Fig. 5: embodiment one is when catching robot clamping plate open
Schematic diagram,
The book ATM bookshelf of the present invention described in Fig. 6: embodiment two is submitted a written statement to a higher authority the structural representation of lattice.
In above-mentioned accompanying drawing, each piece mark is described as follows:
1-casing assembly,
2-motor,
3-screw mandrel cleat assembly,
31-catching robot clamping plate, 32-rotational support block, 33-feed screw nut, 34-Bidirectional-screw,
35-feed screw nut's limited block, 351-feed screw nut limited block A, 3511-L shape driving lever, 35111-pin-and-hole,
352-feed screw nut limited block B,
36-measuring thickness device, 361-displacement transducer and attached linear movement guide mechanism thereof,
3611-line slideway, 3612-guide runner,
3613-optical reading head, 3614-grating scale body, 3615-connects sheet,
362-groove shifting block, the vertical groove of 3621-,
4-transmission component,
5-bookshelf, 51-book lattice.
Detailed description of the invention
Embodiment one
The books catching robot (seeing Fig. 1-Fig. 5) of a kind of band thickness measuring function, including casing assembly 1, motor 2, screw mandrel clamping plate
Assembly 3, transmission component 4, described screw mandrel cleat assembly 3 includes two pieces of catching robot clamping plate 31, rotational support block 32, bullet
Spring, feed screw nut 33, Bidirectional-screw 34, feed screw nut's limited block 35, for measuring the measuring thickness device 36 of books thickness, wherein:
Described feed screw nut's limited block 35 includes feed screw nut limited block A351 and feed screw nut limited block B352, feed screw nut
Being formed with L-shaped driving lever 3511 on limited block A351, L-shaped driving lever 3511 is provided with pin-and-hole 35111 in lateral attitude；Described survey
Thick device 36 includes displacement transducer and attached linear movement guide mechanism 361 thereof and groove shifting block 362, on groove shifting block 362
Being provided with vertical groove 3621, this groove shifting block 362 is limited with feed screw nut by the pin in vertical groove 3621, pin-and-hole 35111
Position block A 351 links together；Described groove shifting block 362 is also by guide runner 3621 and connects sheet 3615 and displacement sensing
Device connects.And the tail end of catching robot clamping plate 31 is to distance L1 between the rotation center of circle O of rotational support block 32 and rotation
Center of circle O is equal to distance L2 between pin-and-hole 35111 center or becomes certain proportionate relationship, and this setting can make displacement transducer examine
The stroke measured and monolateral catching robot clamping plate open or to clamp stroke equal or become certain proportionate relationship.
Displacement transducer in described displacement transducer and attached linear movement guide mechanism 361 thereof uses striated pattern
Rule displacement sensor, this striated pattern rule displacement sensor includes grating scale body 3614 and optical reading head 3613, and displacement passes
Linear movement guide mechanism in sensor and attached linear movement guide mechanism 361 thereof includes line slideway 3611 and guide runner
3612, described grating scale body 3614, line slideway 3611 are installed in parallel on casing assembly 1, and guide runner 3612 is installed
On line slideway 3611, one end of this guide runner 3612 is connected with optical reading head 3613 by connecting sheet 3615, guides
The other end of slide block 3612 is connected with groove shifting block 362.
The books catching robot of band thickness measuring function described in the present embodiment one is
The improvement made on the basis of " a kind of book ATM in books catching robot device " of CN103522299B, therefore, above-mentioned outside
Shell component, motor, transmission component, and the catching robot clamping plate of screw mandrel cleat assembly, rotational support block, feed screw nut, bullet
Spring, Bidirectional-screw detailed disclosure in that patent, is already belonging to prior art, describes its structure the most one by one in detail.
As a kind of conversion of the present embodiment one, described displacement transducer is except using striated pattern rule displacement sensor
Outward, it is also possible to use other such as the numeral displacement transducer such as laser displacement sensor, resistor type displacement sensor.
The operation principle of the books catching robot of band thickness measuring function described in the present embodiment one is as follows:
Due to books catching robot two pieces of catching robot clamping plate tail ends open or clamping movement be around O point in arc
Motion, therefore, feed screw nut limited block A is designed with L-shaped deflector rod structure by the present invention, along with two pieces of catching robot clamping plate
Open or clamping movement, be connected to the L-shaped driving lever on feed screw nut limited block A also for around O point in arcuate movement；And L-shaped
Driving lever is provided with pin-and-hole in lateral attitude；And on groove shifting block, it is provided with vertical groove, makes this groove shifting block vertical by being positioned at
Pin in groove, pin-and-hole links together with feed screw nut limited block A；The arcuate movement of L-shaped driving lever can be turned by this structure
Turn to the linear reciprocating motion of groove shifting block, thus drive the optical reading head of displacement transducer back and forth to transport along line slideway
Dynamic.Additionally, due to the tail end of catching robot clamping plate to rotational support block distance L1 rotated between the center of circle with rotate the center of circle
Distance L2 between pin-and-hole center is equal or becomes certain proportionate relationship, and this design can make the row that displacement transducer detects
Journey and monolateral catching robot clamping plate open or to clamp stroke equal or become certain proportionate relationship, thus realize accurately measuring
The thickness of clamped books.
Embodiment two
A kind of book ATM, captures car, vehicle frame, control system including bookshelf 5, books, and bookshelf 5 is provided with book lattice 51, and books are grabbed
Being provided with books catching robot on picking up the car, the width of described book lattice 51 is that uneven setting (sees by different books thickness
Fig. 6)；The width of these book lattice is arranged by 0～10mm, 11～20mm, 21～30mm, 31～40mm specification respectively.Described books
Catching robot is the books catching robot of the band thickness measuring function described in embodiment one, and the displacement of this books catching robot passes
The outfan of sensor controls end with the input of control system and is connected.
Above-mentioned books capture car, vehicle frame, control system are prior art, explain its structure the most in detail
State.
Pressing different books thickness due to the book lattice width on the book ATM bookshelf of the present invention is uneven setting, and
By using the books catching robot of band thickness measuring function, while capturing books, can accurately measure the thickness of these books, and
Transmitting the thickness data of these books to controlling device, control device and pass through judgement, analyze, controlling books catching robot will scheme
Book is automatically sent to the book case of respective width on bookshelf and puts.Therefore, can to leave thicker books in width bigger for the present invention
In book lattice, relatively thin books are left in the book lattice that width is less, be rationally sufficiently used the books in stock of book ATM bookshelf
Space, substantially increases the visible books in stock amount of book ATM.
As a kind of conversion of the present embodiment two, the width specifications of book lattice can be arranged according to actual needs, can be 0～
10mm, 11～20mm, 21～30mm, 31～40mm, 41～50 mm, 51～60 mm, or other specification.
Claims (4)
1. a books catching robot for band thickness measuring function, including casing assembly (1), motor (2), screw mandrel cleat assembly (3),
Transmission component (4), described screw mandrel cleat assembly (3) includes two pieces of catching robot clamping plate (31), rotational support block (32), bullet
Spring, feed screw nut (33), Bidirectional-screw (34), feed screw nut's limited block (35)；It is characterized in that: also include for measuring figure
The measuring thickness device (36) of book thickness, this measuring thickness device includes displacement transducer and attached linear movement guide mechanism (361) thereof, recessed
Groove shifting block (362)；Described feed screw nut's limited block (35) includes feed screw nut limited block A (351) and feed screw nut's limited block
B (352), feed screw nut limited block A(351) on be formed with L-shaped driving lever (3511), L-shaped driving lever (3511) is in horizontal position
Install pin-and-hole (35111)；Described groove shifting block (362) is provided with vertical groove (3621), and this groove shifting block (362) passes through
Pin in vertical groove (3621), pin-and-hole (35111) links together with feed screw nut limited block A (351)；Described is recessed
Groove shifting block (362) is also connected with displacement transducer and attached linear movement guide mechanism (361) thereof；Catching robot clamping plate (31)
Tail end to distance L1 between the rotation center of circle O of rotational support block (32) and rotate center of circle O between pin-and-hole (35111) center
Distance L2 is equal or proportional relation.
The books catching robot of band thickness measuring function the most according to claim 1, it is characterised in that: described displacement sensing
Displacement transducer in device and attached linear movement guide mechanism (361) thereof uses striated pattern rule displacement sensor, and this is linear
Grating scale displacement transducer includes grating scale body (3614) and optical reading head (3613), displacement transducer and attached straight line thereof
Linear movement guide mechanism in movement guide mechanism (361) includes line slideway (3611) and guide runner (3612), described
Grating scale body (3614), line slideway (3611) be installed in parallel on casing assembly (1), guide runner (3612) is arranged on
On line slideway (3611), one end of this guide runner (3612) is by connecting sheet (3615) with optical reading head (3613) even
Connecing, the other end of guide runner (3612) is connected with groove shifting block (362).
3. a book ATM, captures car, vehicle frame, control system including bookshelf (5), books, and bookshelf (5) is provided with book lattice
(51), books capture and are provided with books catching robot on car, it is characterised in that: the width of described book lattice (51) is by difference figure
Book thickness is uneven setting；Described books catching robot is that the books of the band thickness measuring function described in claim 1 or 2 are grabbed
Taking mechanical hand, the outfan of displacement transducer controls end with the input of control system and is connected.
Book ATM the most according to claim 3, it is characterised in that: the width specifications of described book lattice (51) include 0～
10mm, 11～20mm, 21～30mm, 31～40mm, 41～50mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610626708.7A CN106142115B (en) | 2016-07-29 | 2016-07-29 | Book ATM and its books catching robot with thickness measuring function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610626708.7A CN106142115B (en) | 2016-07-29 | 2016-07-29 | Book ATM and its books catching robot with thickness measuring function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106142115A true CN106142115A (en) | 2016-11-23 |
| CN106142115B CN106142115B (en) | 2018-07-31 |
Family
ID=57328766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610626708.7A Expired - Fee Related CN106142115B (en) | 2016-07-29 | 2016-07-29 | Book ATM and its books catching robot with thickness measuring function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142115B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113465A (en) * | 2018-10-31 | 2020-05-08 | 中国科学院沈阳自动化研究所 | Full-automatic clamping mechanism for large-scale structural member |
| CN111531583A (en) * | 2020-05-12 | 2020-08-14 | 博雅工道（北京）机器人科技有限公司 | Mechanical arm displacement detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4808898A (en) * | 1987-09-30 | 1989-02-28 | Keith Pearson | Gripper assembly for robot arm |
| DE4320071A1 (en) * | 1992-07-02 | 1994-01-13 | Montech Ag Derendingen | Device for gripping workpieces in production lines - has guide elements such as rollers turning in blind grooves of each gripper, rollers turn in opposite directions during closing |
| JPH0839474A (en) * | 1994-07-28 | 1996-02-13 | Mazda Motor Corp | Clamping device |
| CN2798037Y (en) * | 2005-04-29 | 2006-07-19 | 青岛摩森机电技术有限公司 | Tester for length of driving belt |
| CN101558311A (en) * | 2006-12-04 | 2009-10-14 | 英派克埃彼有限公司 | Container gripper provided with a position sensor |
| CN202471538U (en) * | 2011-12-22 | 2012-10-03 | 刘延子 | High-precision digital display marking apparatus |
| CN203677091U (en) * | 2013-11-30 | 2014-07-02 | 北京华健恒创技术有限公司 | Contact-type biosome skeleton ranging device |
| CN105023347A (en) * | 2014-04-25 | 2015-11-04 | 北京华夏聚龙自动化股份公司 | Banknote bundle thickness measurement device |
| CN205928691U (en) * | 2016-07-29 | 2017-02-08 | 向风帆 | Books ATM and books of taking thickness measuring function snatch manipulator thereof |
-
2016
- 2016-07-29 CN CN201610626708.7A patent/CN106142115B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4808898A (en) * | 1987-09-30 | 1989-02-28 | Keith Pearson | Gripper assembly for robot arm |
| DE4320071A1 (en) * | 1992-07-02 | 1994-01-13 | Montech Ag Derendingen | Device for gripping workpieces in production lines - has guide elements such as rollers turning in blind grooves of each gripper, rollers turn in opposite directions during closing |
| JPH0839474A (en) * | 1994-07-28 | 1996-02-13 | Mazda Motor Corp | Clamping device |
| CN2798037Y (en) * | 2005-04-29 | 2006-07-19 | 青岛摩森机电技术有限公司 | Tester for length of driving belt |
| CN101558311A (en) * | 2006-12-04 | 2009-10-14 | 英派克埃彼有限公司 | Container gripper provided with a position sensor |
| CN202471538U (en) * | 2011-12-22 | 2012-10-03 | 刘延子 | High-precision digital display marking apparatus |
| CN203677091U (en) * | 2013-11-30 | 2014-07-02 | 北京华健恒创技术有限公司 | Contact-type biosome skeleton ranging device |
| CN105023347A (en) * | 2014-04-25 | 2015-11-04 | 北京华夏聚龙自动化股份公司 | Banknote bundle thickness measurement device |
| CN205928691U (en) * | 2016-07-29 | 2017-02-08 | 向风帆 | Books ATM and books of taking thickness measuring function snatch manipulator thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113465A (en) * | 2018-10-31 | 2020-05-08 | 中国科学院沈阳自动化研究所 | Full-automatic clamping mechanism for large-scale structural member |
| CN111531583A (en) * | 2020-05-12 | 2020-08-14 | 博雅工道（北京）机器人科技有限公司 | Mechanical arm displacement detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106142115B (en) | 2018-07-31 |
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